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Revenue from Contracts with Customers - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Dec. 31, 2019
Revenue from Contract with Customer [Abstract]      
Contract with customer, liability $ 119.0   $ 63.1
Contract with customer, revenue recognized $ 3.8 $ 2.7